R. Kelly may have raised an eyebrow or two during his performance with Lady Gaga on SNL, but his performance at SiriusXM Heart & Soul’s exclusive Artist Confidential definitely raised a few fans’ heart rates as they swooned, sighed and, of course, sang along. The King of R&B chopped it up with host Cayman Kelly to promote the release of his highly-anticipated album, Black Panties.

In addition to sharing some details about the new music, Kelly also reminisced about meeting Michael Jackson—with a spot-on impression of the late icon—and about the moment he fell in love with music in high school (HINT: the girls’ reaction to his singing had a lot to do with it).

With his usual mix of playfulness and sex appeal, the singer, songwriter and producer did a throwback by performing two of his classics, Your Body’s Callin’ and I’m a Flirt. Luckily – albeit surprisingly – there weren’t any airborne undies moments.